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#ifndef YARPANGLEWRITER_HPP_
#define YARPANGLEWRITER_HPP_

//iSpike includes
#include <iSpike/Writer/AngleWriter.hpp>
#include <iSpike/YarpConnection.hpp>

//Other includes
#include <string>
#include <map>

namespace ispike {

        class YarpAngleWriter : public AngleWriter {
                public:
                        YarpAngleWriter(string nameserverIP, unsigned nameserverPort);
                        virtual ~YarpAngleWriter();
                        void initialize(map<string,Property>& properties);
                        void setAngle(double newAngle);
                        void setDegreeOfFreedom(int dof);
                        void setProperties(map<string,Property>& properties);
                        void start();

                private:
                        //===========================  VARIABLES  =========================
                        YarpConnection* yarpConnection;

                        bool angleChanged;

                        string portName;

                        unsigned sleepDuration_ms;


                        //===========================  METHODS  ===========================
                        void updateProperties(map<string, Property>& properties);
                        void workerFunction();
        };

}

#endif /* YARPANGLEWRITER_HPP_ */